A flange-counting-based suspended charging device operation control system and method

Abstract

This invention discloses a control system and method for suspended charging equipment based on flange counting. The system includes a self-reflective photoelectric sensor array installed on the upper surfaces of both sides of the control cabinet to detect flange surface features and generate characteristic pulse signals; a motor encoder installed at the rear end of the drive motor to provide feedback on the rotation angle and number of revolutions of the drive motor's output shaft; and a flange counter to receive the characteristic pulse signals from the self-reflective photoelectric sensor array. This invention utilizes the self-reflective photoelectric sensor array, flange counter, track segment counter, and motion controller in conjunction with the flange counting during the traction vehicle's movement. This allows the vehicle to always know its position within the track network, providing global positioning capability. Based on the segment position calculated from the flange counting, and combined with the current speed and load, acceleration and deceleration curves are dynamically generated to achieve precise and smooth crossing of openings in the middle of each track segment, balancing operational efficiency and smoothness.

Description

Technical Field

[0001] This invention belongs to the field of operation control technology for suspended automatic charging equipment, specifically relating to an operation control system and method for suspended charging equipment based on flange counting. Background Technology

[0002] With the rapid increase in the number of electric vehicles, how to achieve convenient and fast charging has become a problem that many electric vehicle owners have to face. When an aerial mobile charging vehicle runs on a suspended track, there is usually a long slot underneath the track. The slot remains in the middle of track sections and at intersections, and the vehicle's wheels need to cross these openings when passing through these areas.

[0003] Existing solutions typically involve installing external positioning markers such as magnetic nails or RFID tags at specific locations on the track. The vehicle then triggers a deceleration action upon detecting the marker. However, this current method has the following drawbacks: Lack of track segment perception capability: The existing solution cannot use the structural features of the track itself to identify segments. The vehicle does not know which segment of the track it is on or how far it is from the opening in the middle of the track segment. It can only rely on preset fixed positions to trigger.

[0004] Reliance on additional positioning facilities: Existing solutions require additional positioning devices such as magnetic nails and tags to be installed on the track, which increases the cost of track manufacturing and installation. Moreover, these devices are prone to aging, displacement, or failure due to dirt when exposed to the parking lot environment for a long time.

[0005] Fixed and rigid acceleration and deceleration strategies: Due to the lack of precise perception of track segments and current location, acceleration and deceleration can only use fixed parameters and cannot be dynamically adjusted according to load changes and actual travel speed, resulting in inconsistent smoothness when crossing ditches.

[0006] Single obstacle avoidance dimension: Existing charging vehicles rely heavily on forward sensors for obstacle avoidance, which is insufficient for sensing lateral obstacles that may appear on both sides of the control cabinet.

[0007] Therefore, it is necessary to research and develop a control system and method for suspended charging equipment based on flange counting to solve the above problems. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides a control system and method for suspended charging equipment based on flange counting. This method utilizes the inherent vertical flange connection structure between track modules as positioning markers, and performs segmented counting using self-reflective photoelectric detection of the vertical flanges of the track. This allows for the prediction of the opening position in the middle of the track segment and the dynamic generation of acceleration / deceleration curves. Furthermore, it employs multi-directional ultrasonic radar to achieve omnidirectional obstacle avoidance. This solves the problem of rigid acceleration / deceleration strategies and reliance on additional positioning facilities caused by the inability to accurately locate the tractor in open trenches on suspended tracks due to the track's inherent structural features. Simultaneously, it addresses the deficiency of existing obstacle avoidance schemes in their insufficient perception of lateral obstacles.

[0009] The present invention provides the following technical solution: A flange counting-based operation control system for a suspended charging device includes a suspended track, a traction vehicle, a connector, and a charging robot body. The suspended track has a slot at its bottom. The traction vehicle moves along the path of the suspended track inside the track. The traction vehicle and the charging robot body are fixedly combined via the connector, which passes through the slot. The suspended track includes multiple track units, with adjacent track units spliced ​​and fixed by vertical flanges. The outer edge of the vertical flange protrudes from the outer wall of the track unit. The traction vehicle has multiple independently controlled drive wheels at its bottom, with a walking drive motor connected to the axle of each drive wheel. The output shaft of the walking drive motor is engaged with the drive wheels. The charging robot body includes a control cabinet, a robotic arm, and a charging gun. The control cabinet and the charging gun are respectively installed at the top and bottom of the robotic arm. The operation control system of the suspended charging equipment includes: The self-reflective photoelectric sensor array is installed on the upper surface of both sides of the control cabinet to detect the characteristics of the flange plate surface and generate characteristic pulse signals. The motor encoder is installed at the rear end of the drive motor and is used to provide feedback on the rotation angle and number of revolutions of the drive motor's output shaft. A flange counter is used to receive the characteristic pulse signal from a self-reflecting photoelectric sensor. The track segment counter is used to acquire the characteristic pulse signal of the flange counter and determine the track segment number of the track unit where the tractor is located. The motion controller, installed inside the control cabinet, is used to receive and process feedback signals and metering data from the motor encoder, flange counter, and track segment counter, and to execute the track unit's position calculation within the track segment and adaptive acceleration / deceleration algorithms.

[0010] Preferably, the transmitting and receiving ends of the self-reflecting photoelectric sensor group are both vertically upward and correspond to the portion of the vertical flange protruding from the outer wall of the track unit.

[0011] Preferably, the slot is located in the middle of the bottom wall of the track unit, and a corresponding slot is provided at the bottom of the vertical flange. Multiple slots on the horizontally connected track units are continuously connected, and multiple slots on the vertically connected track units intersect to form an open groove.

[0012] Preferably, the flange counter includes a pulse signal filtering unit for filtering out interference from transient signal changes at the joints of two adjacent vertical flanges.

[0013] Preferably, the operation control system of the suspended charging equipment further includes an ultrasonic radar array, which includes a longitudinal detection radar and a lateral detection radar. The longitudinal detection radar is deployed at the front and rear ends of the control cabinet, and the lateral detection radar is deployed on both sides of the control cabinet. The data acquired by the longitudinal detection radar and the lateral detection radar are fed back to the motion controller to perform obstacle avoidance decisions.

[0014] Preferably, a QR code label is provided at the bottom of the track unit to record the track segment number of the suspended track distribution network in which the corresponding track unit is located. An industrial camera is installed inside the control cabinet, and a hole is opened on the top of the control cabinet. The industrial camera recognizes the QR code label and feeds back the read content to the motion controller to determine the position of the tractor in the suspended track distribution network.

[0015] This invention also provides an adaptive acceleration / deceleration control method for trench crossing in a suspended charging equipment operation control system based on flange counting, comprising the following steps: S1. System initialization and track parameter pre-storage: During the system deployment and debugging phase, the suspended track distribution network is calibrated, and the length of each track unit, the starting position of the slot of each track unit (i.e., the distance from the starting flange of this segment) and the length of the slot are recorded. The parameters are pre-stored into the motion controller, and the flange counter is initially reset to zero. S2. Flange detection and counting accumulation: The tractor travels along the track and the self-reflective photoelectric sensor continuously shines upward. When an identifiable characteristic pulse is generated, the feedback signal is marked as "1"; otherwise, it is marked as "0". Abrupt changes in reflection intensity are recorded as "0-1-0". After receiving the pulse signal, the motion controller records the current encoder count based on the feedback data from the motor encoder, using it as the starting zero point of the track section, and determines the forward and reverse states of the tractor. If a sudden change in reflection intensity occurs while the object is moving forward, the flange counter increments by 1. If a sudden change in reflection intensity occurs while in the backward state, the flange counter is decremented by 1. S3. Calculate the coordinates of the tractor in the track section. The motion controller reads the position information of the slot opening of this section (distance from the flange at the beginning of the section and opening length) from the track parameters according to the current track section number. Combined with the cumulative travel distance of the motor encoder from the beginning of the section, the remaining distance of the tractor from the slot opening of this section is calculated in real time. S4. Adaptive acceleration / deceleration curve generation and execution: S4.1 Pre-deceleration stage: When the estimated remaining distance from the slot opening is equal to the dynamically calculated safe deceleration distance, the motion controller generates a smooth deceleration curve based on the current driving speed and load status (estimated by motor current); the driving motor starts to decelerate, so that the tractor smoothly reduces to the safe crossing speed when it reaches the starting edge of the slot opening. S4.2 Crossing the Ditch Stage: The tractor enters the open ditch of the track at a safe low speed, and the traveling wheels cross the open ditch in turn. The motor encoder measures the travel distance in the open ditch in real time. S4.3 Acceleration and Recovery Phase: When the motor encoder confirms that the rear wheels of the tractor have completely left the open ditch after accumulating the distance, the motion controller generates a smooth acceleration curve to restore the travel drive motor to normal driving speed.

[0016] S5. Continuous multi-segment track operation: The tractor continues to move forward. When the next vertical flange is detected again, the flange counter is incremented by 1, the internal displacement of the motor encoder is cleared to zero, and steps S3 to S5 are repeated.

[0017] This invention also provides an ultrasonic radar omnidirectional obstacle avoidance method for a suspended charging equipment operation control system based on flange counting, wherein the following operations are performed when the tractor is moving: Step 1: Multi-directional obstacle detection: The longitudinal detection radar continuously detects the distance of obstacles in front of and behind the vehicle in the direction of travel, while the lateral detection radar detects obstacles below the track that may encroach on the operating envelope of the tractor. Step 2: Obstacle Classification Warning and Response: The motion controller classifies obstacle threats into Level 1, Level 2, and Level 3 warnings based on the distance information transmitted back by the ultrasonic radar array. Level 3 warning (e.g., when the feedback distance is set to >2m): Record the location and distance of the obstacle, and do not intervene in the speed. Level 2 warning (e.g., when the feedback distance is set to 0.3-2m): Control the walking drive motor to start linear deceleration, and at the same time activate the audible and visual alarm; Level 1 warning (e.g., when the feedback distance is set to 0-0.3m): immediately cut off the power to the travel drive motor and trigger the electromagnetic brake of the drive wheels to bring the tractor to an emergency stop.

[0018] Preferably, when the ultrasonic radar array detects that an obstacle is located in front of the open ditch path to be crossed, and the tractor is in the pre-deceleration phase of approaching the open ditch, the motion controller will fuse the obstacle avoidance deceleration command and the ditch crossing deceleration command by taking the smaller value (i.e., taking the lower speed limit value of the two).

[0019] Compared with the prior art, the present invention has the following advantages: By combining a self-reflective photoelectric sensor array, flange counter, track segment counter, and motion controller, the tractor vehicle, in conjunction with the flange counter, always knows which segment of the track network it is in during its movement, enabling global positioning capabilities. Based on the segment position calculation using the flange counter, and combined with the current speed and load, acceleration and deceleration curves are dynamically generated to achieve precise and smooth crossing of the opening in the middle of each track segment. This balances operational efficiency and smoothness, and also lays the foundation for subsequent intelligent scheduling, predictive maintenance, and other functions.

[0020] By utilizing the inherent vertical flange connection structure between track modules as positioning markers, signal feedback of the track section is achieved during the movement of the charging robot body driven by the tractor. This eliminates the need to install external devices such as magnetic nails and RFID tags on the track, reducing system deployment and maintenance costs. Furthermore, the flange structure is stable and reliable, unaffected by environmental aging.

[0021] By deploying forward, backward, and lateral ultrasonic radars in a coordinated manner, the blind spot of a single forward sensor in detecting obstacles below and to the side is compensated, resulting in higher accuracy in early warning and response, and improving the safety of charging equipment and its system.

[0022] By working together with the obstacle avoidance and ditch crossing control logic, a smaller value fusion strategy is adopted for obstacle avoidance deceleration and ditch crossing deceleration to ensure that the two safety mechanisms coexist harmoniously without command competition or conflict, resulting in high operational reliability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the suspended charging device provided by the present invention.

[0024] Figure 2 This is a schematic diagram of the operation control system for the suspended charging device provided by the present invention.

[0025] Figure 3 This is a schematic diagram of the distribution structure of the vertical flange, open trench, and QR code label in this invention.

[0026] Figure 4 This is a schematic diagram of the connection structure between the tractor and the connector in this invention.

[0027] Figure 5 This is a schematic diagram of the connection structure of the drive wheel, the walking drive motor and the motor encoder in this invention.

[0028] Figure 6 The control principle diagram of the suspended charging equipment operation control system provided by the present invention.

[0029] Marked in the image: Suspension track-1; Track unit-101; Vertical flange-102; Open trench-103; Tractor-2; Drive wheel-201; Walking drive motor-202; Connector-3; Charging robot body-4; Control cabinet-401; Robotic arm-402; Charging gun-403; Slot-5; Self-reflecting photoelectric sensor group-6; Motor encoder-7; Motion controller-8; Longitudinal detection radar-9; Lateral detection radar-10; QR code label-11; Industrial camera-12. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can refer to a detachable connection: it can be a mechanical connection; it can also be an indirect connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] like Figure 1-6The diagram illustrates a flange-based operation control system for a suspended charging device. The suspended charging device includes a suspended track 1, a traction vehicle 2, a connector 3, and a charging robot body 4. The bottom of the suspended track 1 has a slot 5. The traction vehicle 2 moves along the path of the suspended track 1 inside the suspended track 1. The traction vehicle 2 and the charging robot body 4 are fixedly combined by the connector 3, which passes through the slot 5. The suspended track 1 includes multiple track units 101. Two adjacent track units 101 are spliced ​​and fixed by vertical flanges 102. The outer edge of the vertical flange 102 protrudes from the outer wall of the track unit 101. The vertical flange 102 can be regarded as a connecting flange structure at the vertical joint between adjacent track units 101. It is distributed longitudinally along the suspended track 1 and serves as a physical identifier for segmented counting of the suspended track 1. The bottom of the tractor 2 is equipped with multiple independently controlled drive wheels 201, and the drive drive motor 202 is connected to the axle of the drive wheel 201. The output shaft of the drive drive motor 202 is in transmission cooperation with the drive wheel 201. The charging robot body 4 includes a control cabinet 401, a robotic arm 402 and a charging gun 403. The control cabinet 401 and the charging gun 403 are respectively installed at the top and bottom of the robotic arm 402. The operation control system of the suspended charging equipment includes: The self-reflective photoelectric sensor group 6 is installed on the upper surface of both sides of the control cabinet 401. It is used to detect the characteristics of the flange plate surface and generate characteristic pulse signals. It adopts a photoelectric sensor that integrates the transmitting end and the receiving end. The emitted light shines on the reflective object and returns to be received. It shines vertically upward in the vertical direction of the track to capture the bottom or side features of the vertical flange 102. It is used to detect flange features and realize counting. Specifically, when the tractor 2 carries the charging robot body 4 along the path of the suspended track 1 and passes the vertical flange 102, the self-reflective photoelectric sensor group 6 acquires the flange plate surface features (such as a sudden increase in the reflective area of ​​the vertical flange 102 plate surface, a brief signal change of the vertical flange 102 joint, etc.) and generates characteristic pulse signals.

[0034] The motor encoder 7 is installed at the rear end of the travel drive motor 202 and is used to provide feedback on the rotation angle and number of revolutions of the output shaft of the travel drive motor 202. In conjunction with the size data of the drive wheel 201, it can accurately calculate the travel distance of the tractor 2 along the path of the suspension track 1.

[0035] A flange counter is used to receive the characteristic pulse signal from a self-reflecting photoelectric sensor. The track segment counter is used to acquire the characteristic pulse signal of the flange counter and determine the track segment number of the track unit 101 where the tractor 2 is located. Motion controller 8, installed inside control cabinet 401, receives and processes feedback signals and metering data from motor encoder 7, flange counter, and track segment counter, and executes the track segment position calculation and adaptive acceleration / deceleration algorithm of track unit 101. Both the flange counter and track segment counter are software counting modules integrated within motion controller 8.

[0036] Furthermore, in the above scheme, the transmitting end and receiving end of the self-reflective photoelectric sensor group 6 are both vertically upward and correspond to the portion of the vertical flange 102 that protrudes from the outer wall of the track unit 101.

[0037] Furthermore, in the above scheme, the slot 5 is located in the middle of the bottom wall of the track unit 101, and the bottom of the vertical flange 102 is provided with a corresponding slot 5. Multiple slots 5 on the horizontally connected track units 101 (i.e., the straight sections of the track) are continuously connected, and multiple slots 5 on the vertically connected track units 101 (i.e., at the track intersections) converge to form an open trench 103. The traveling wheels of the tractor 2 need to cross this area, and when traveling through this area, they need to pass slowly.

[0038] Furthermore, in the above scheme, the flange counter includes a pulse signal filtering unit to eliminate interference from transient signal changes at the joints of two adjacent vertical flanges 102.

[0039] Furthermore, in the above scheme, the operation control system of the suspended charging equipment also includes an ultrasonic radar array, which uses the time difference between ultrasonic wave emission and echo to measure the distance to obstacles. The ultrasonic radar array includes a longitudinal detection radar 9 and a lateral detection radar 10. The longitudinal detection radar 9 is deployed at the front and rear of the control cabinet 401, and the lateral detection radar 10 is deployed on both sides of the control cabinet 401. The data acquired by the longitudinal detection radar 9 and the lateral detection radar 10 are fed back to the motion controller 8, which then executes obstacle avoidance decisions. The ultrasonic radar obstacle avoidance can be replaced with millimeter-wave radar. Millimeter-wave radar is unaffected by temperature, humidity, and dust, has a longer detection range, and can achieve earlier warning responses to improve accuracy and meet higher usage requirements.

[0040] Furthermore, in the above scheme, a QR code label 11 is set at the bottom of the track unit 101 to record the track segment number of the suspended track 1 distribution network where the track unit 101 is located. An industrial camera 12 is installed inside the control cabinet 401, and an opening is provided at the top of the control cabinet 401. The industrial camera 12 recognizes the QR code label 11 and feeds back the read content to the motion controller 8 to determine the position of the tractor 2 in the suspended track 1 distribution network. The top surface of the track is scanned using a 2D vision module. When the QR code label 11 is recognized, the accuracy of the flange counter and the track segment counter is verified, and corrections are made when data errors occur.

[0041] This invention also provides an adaptive acceleration / deceleration control method for trench crossing in a suspended charging equipment operation control system based on flange counting, comprising the following steps: S1. System initialization and track parameter pre-storage: During the system deployment and debugging phase, the distribution network of the suspended track 1 is calibrated, and the length of each track unit 101, the starting position of the slot 5 of each track unit 101 (i.e., the distance from the starting flange of this segment) and the length of the slot 5 are recorded. The parameters are pre-stored into the motion controller 8, and the flange counter is initially reset to zero. S2. Flange detection and counting accumulation: The tractor 2 travels along the track and the self-reflective photoelectric sensor continuously shines upward. When an identifiable characteristic pulse is generated, the feedback signal is marked as "1"; otherwise, it is marked as "0". Abrupt changes in reflection intensity are recorded as "0-1-0". After receiving the pulse signal, the motion controller 8 records the current count of the motor encoder 7 based on the feedback data from the motor encoder 7, using it as the starting position zero point of this track segment, and determines the forward and backward states of the tractor 2: if a sudden change in reflection intensity occurs in the forward state, the flange counter is incremented by 1; if a sudden change in reflection intensity occurs in the backward state, the flange counter is decremented by 1. S3. Calculate the coordinates of the tractor 2 within the track section. The motion controller 8 reads the position information of the slot 5 in this section (distance from the flange at the beginning of the section and opening length) from the track parameters according to the current track section number. Combined with the travel distance accumulated by the motor encoder 7 from the beginning of the section, the remaining distance of the tractor 2 from the slot 5 in this section is calculated in real time. S4. Adaptive acceleration / deceleration curve generation and execution: S4.1, Pre-deceleration stage: When the calculated remaining distance from the slot 5 of this section is equal to the dynamically calculated safe deceleration distance, the motion controller 8 generates a smooth deceleration curve based on the current driving speed and load status (estimated by motor current); drives the walking drive motor 202 to start deceleration, so that the tractor 2 smoothly decreases to the safe crossing speed when it reaches the starting edge of the slot 5. S4.2 Crossing the ditch area stage: The tractor 2 enters the open ditch 103 of the track at a safe low speed, and the traveling wheels cross the open ditch 103 in sequence. The motor encoder 7 measures the travel distance in the open ditch 103 in real time. S4.3, Acceleration and Recovery Phase: When the motor encoder 7 confirms that the rear wheels of the tractor 2 have completely left the open ditch 103 after accumulating the distance, the motion controller 8 generates a smooth acceleration curve, so that the walking drive motor 202 can return to the normal driving speed.

[0042] S5. Continuous multi-segment track operation: The tractor 2 continues to move forward. When the next vertical flange 102 is detected again, the flange counter is incremented by 1, the displacement inside the motor encoder 7 is reset to zero, and steps S3 to S5 are repeated. Through the continuous accumulation of the flange counter, the tractor 2 always knows which segment of the track network it is in and when it needs to prepare to cross the ditch.

[0043] This invention also provides an ultrasonic radar omnidirectional obstacle avoidance method for a suspended charging equipment operation control system based on flange counting, wherein the tractor 2 performs the following operations while moving: Step 1: Multi-directional obstacle detection: The longitudinal detection radar 9 continuously detects the distance of obstacles in front of and behind the travel direction, and the lateral detection radar 10 detects obstacles below the side of the track that may intrude into the running envelope of the tractor 2. Step 2: Obstacle Classification Warning and Response: Based on the distance information returned by the ultrasonic radar array, the motion controller 8 classifies obstacle threats into Level 1 warning, Level 2 warning, and Level 3 warning. Level 3 warning (e.g., when the feedback distance is set to >2m): Record the location and distance of the obstacle, and do not intervene in the speed. Level 2 warning (if the feedback distance is set to 0.3-2m): Control the walking drive motor 202 to start linear deceleration, and at the same time activate the audible and visual alarm; Level 1 warning (e.g., when the feedback distance is set to 0-0.3m): immediately cut off the power of the travel drive motor 202 and trigger the electromagnetic brake of the drive wheel 201 to bring the tractor 2 to an emergency stop.

[0044] Furthermore, in the above scheme, when the ultrasonic radar array detects an obstacle in front of the open ditch 103 to be crossed, and the tractor 2 is in the pre-deceleration phase approaching the open ditch 103, the motion controller 8 fuses the obstacle avoidance deceleration command and the ditch crossing deceleration command by taking the smaller value (i.e., taking the lower speed limit value of the two). This ensures that the two safety mechanisms coexist harmoniously and do not conflict with the commands.

[0045] The above are merely specific embodiments of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A flange-count-based operation control system for a suspended charging device, the suspended charging device comprising a suspended track (1), a tractor (2), a connector (3), and a charging robot body (4), wherein the bottom of the suspended track (1) is provided with a slot (5), the tractor (2) moves along the path of the suspended track (1) inside the suspended track (1), the tractor (2) and the charging robot body (4) are fixedly combined by the connector (3), and the connector (3) passes through the slot (5), characterized in that, The suspension track (1) includes multiple track units (101). Two adjacent track units (101) are spliced ​​and fixed by a vertical flange (102). The outer edge of the vertical flange (102) protrudes from the outer wall of the track unit (101). The bottom of the tractor (2) is equipped with multiple independently controlled drive wheels (201). The drive wheel (201) is connected to the shaft of the drive wheel (201) by a walking drive motor (202). The output shaft of the walking drive motor (202) is in transmission cooperation with the drive wheel (201). The charging robot body (4) includes a control cabinet (401), a robotic arm (402), and a charging gun (403). The control cabinet (401) and the charging gun (403) are respectively installed at the top and bottom of the robotic arm (402). The operation control system of the suspended charging equipment includes: The self-reflective photoelectric sensor group (6) is installed on the upper surface of both sides of the control cabinet (401) to detect the characteristics of the flange plate and generate characteristic pulse signals; The motor encoder (7) is installed at the rear end of the walking drive motor (202) and is used to provide feedback on the rotation angle and number of revolutions of the output shaft of the walking drive motor (202); A flange counter is used to receive the characteristic pulse signal from a self-reflecting photoelectric sensor. The track segment counter is used to acquire the characteristic pulse signal of the flange counter and determine the track segment number of the track unit (101) where the tractor (2) is located; The motion controller (8) is installed inside the control cabinet (401). The motion controller (8) is used to receive and process the feedback signals and metering data of the motor encoder (7), flange counter and track segment counter, and to execute the track segment position calculation and adaptive acceleration and deceleration algorithm of the track unit (101).

2. The flange count based pendant charging equipment operation control system of claim 1, wherein, The transmitting and receiving ends of the self-reflecting photoelectric sensor group (6) are both vertically upward and correspond to the portion of the vertical flange (102) that protrudes from the outer wall of the track unit (101).

3. The flange count based pendant charging equipment operation control system of claim 1, wherein, The slot (5) is located in the middle of the bottom wall of the track unit (101). The bottom of the vertical flange (102) is provided with a corresponding slot (5). Multiple slots (5) on the horizontally connected track unit (101) are continuously connected, and multiple slots (5) on the vertically connected track unit (101) intersect to form an open groove (103).

4. The operation control system for a suspended charging device based on flange counting according to claim 3, characterized in that, The flange counter includes a pulse signal filtering unit for filtering out transient signal changes at the joints of two adjacent vertical flanges (102).

5. The flange count based pendant charging equipment operation control system of claim 1, wherein, The operation control system of the suspended charging equipment also includes an ultrasonic radar array, which includes a longitudinal detection radar (9) and a lateral detection radar (10). The longitudinal detection radar (9) is installed at the front and rear ends of the control cabinet (401), and the lateral detection radar (10) is installed on both sides of the control cabinet (401). The data acquired by the longitudinal detection radar (9) and the lateral detection radar (10) are fed back to the motion controller (8) and obstacle avoidance decisions are made.

6. The flange count based pendant charging equipment operation control system of claim 1, wherein, The bottom of the track unit (101) is provided with a QR code label (11) to record the track segment number of the suspended track (1) distribution network where the corresponding track unit (101) is located. An industrial camera (12) is installed inside the control cabinet (401). A hole is opened on the top of the control cabinet (401). The industrial camera (12) recognizes the QR code label (11) and feeds back the read content to the motion controller (8) to determine the position of the tractor (2) in the suspended track (1) distribution network.

7. A trench-crossing adaptive acceleration / deceleration control method for a suspended charging equipment operation control system based on flange counting, as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. System initialization and track parameter pre-storage: During the system deployment and debugging phase, the distribution network of the suspended track (1) is calibrated, and the length of each track unit (101), the starting position of the slot (5) of each track unit (101), and the length of the slot (5) are recorded. The parameters are pre-stored into the motion controller (8), and the flange counter is initially reset to zero. S2, Flange detection and counting accumulation: The tractor (2) travels along the track and the self-reflective photoelectric sensor continuously shines upward. When an identifiable characteristic pulse is generated, the feedback signal is marked as "1" and otherwise as "0". The sudden change in reflection intensity is recorded as "0-1-0". After receiving the pulse signal, the motion controller (8) records the current count of the motor encoder (7) based on the feedback data from the motor encoder (7), and uses it as the starting position zero point of this track segment to determine the forward and backward states of the tractor (2): If a sudden change in reflection intensity occurs while the object is moving forward, the flange counter increments by 1. If a sudden change in reflection intensity occurs while in the backward state, the flange counter is decremented by 1. S3. Calculate the coordinates of the tractor (2) in the track section. The motion controller (8) reads the position information of the slot (5) of this section from the track parameters according to the current track section number. Combined with the travel distance accumulated by the motor encoder (7) from the beginning of the section, the remaining distance of the tractor (2) from the slot (5) of this section is calculated in real time. S4. Adaptive acceleration / deceleration curve generation and execution: S4.1, Pre-deceleration stage: When the calculated remaining distance from the slot opening (5) is equal to the dynamically calculated safe deceleration distance, the motion controller (8) generates a smooth deceleration curve based on the current driving speed and load status; drives the walking drive motor (202) to start deceleration, so that the tractor (2) smoothly decreases to the safe crossing speed when it reaches the starting edge of the slot opening (5); S4.2, Crossing the ditch area stage: The tractor (2) enters the open ditch (103) of the track at a safe low speed, and the traveling wheels cross the open ditch (103) in sequence. The motor encoder (7) measures the travel distance in the open ditch (103) in real time. S4.3, Acceleration recovery phase: When the motor encoder (7) confirms that the rear wheels of the tractor (2) have completely left the open ditch (103) by accumulating distance, the motion controller (8) generates a smooth acceleration curve to restore the walking drive motor (202) to normal driving speed. S5. Continuous multi-segment track operation: The tractor (2) continues to move forward. When the next vertical flange (102) is detected again, the flange counter is incremented by 1 again, the internal displacement of the motor encoder (7) is cleared to zero, and steps S3 to S5 are repeated.

8. The omnidirectional obstacle avoidance method of the ultrasonic radar based on the flange count based suspension charging device operation control system according to any one of claims 1-6, characterized in that, The following operations shall be performed when the tractor (2) is in motion: Step 1: Multi-directional obstacle detection: Longitudinal detection radar (9) continuously detects the distance of obstacles in front and behind the direction of travel, and lateral detection radar (10) detects obstacles that may intrude into the running envelope of the tractor (2) below the track. Step 2: Obstacle classification warning and response: The motion controller (8) classifies obstacle threats into Level 1 warning, Level 2 warning and Level 3 warning based on the distance information returned by the ultrasonic radar array; Level 3 warning: Records the location and distance of obstacles, without intervening in speed; Level 2 warning: Control the walking drive motor (202) to start linear deceleration, and at the same time activate the audible and visual alarm; Level 1 warning: Immediately cut off the power of the walking drive motor (202) and trigger the electromagnetic brake of the drive wheel (201) to bring the tractor (2) to an emergency stop. 9.The omni-directional obstacle avoidance method of ultrasonic radar according to claim 8, characterized in that, When the ultrasonic radar array detects that an obstacle is located in front of the path of the open ditch (103) to be crossed, and the tractor (2) is in the pre-deceleration stage of approaching the open ditch (103), the motion controller (8) merges the obstacle avoidance deceleration command and the ditch crossing deceleration command by taking the smaller value.

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